2023-09-27 15:45:31 -07:00
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#pragma once
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2023-11-17 23:53:40 +00:00
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#include <string>
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#include <vector>
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2025-01-29 09:09:58 +00:00
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#include "common/params.h"
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2024-06-11 01:36:40 +00:00
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#include "selfdrive/pandad/panda.h"
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2023-09-27 15:45:31 -07:00
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2024-06-11 01:36:40 +00:00
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void pandad_main_thread(std::vector<std::string> serials);
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2025-01-29 09:09:58 +00:00
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class PandaSafety {
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public:
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PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
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void configureSafetyMode();
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private:
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void updateMultiplexingMode();
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std::string fetchCarParams();
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void setSafetyMode(const std::string ¶ms_string);
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bool initialized_ = false;
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bool log_once_ = false;
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bool safety_configured_ = false;
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bool prev_obd_multiplexing_ = false;
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std::vector<Panda *> pandas_;
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Params params_;
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};
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